CN113273929B

CN113273929B - No dead angle robot of sweeping floor

Info

Publication number: CN113273929B
Application number: CN202110571494.9A
Authority: CN
Inventors: 聂荣桓
Original assignee: Huaibei Zhixing Information Technology Co Ltd
Current assignee: Huaibei Zhixing Information Technology Co Ltd
Priority date: 2021-05-25
Filing date: 2021-05-25
Publication date: 2022-05-13
Anticipated expiration: 2041-05-25
Also published as: CN113273929A

Abstract

The invention relates to the technical field of intelligent furniture, and discloses a dead-end robot, comprising a casing, a driving wheel, a universal wheel, a sweeping brush and a motor. The bottom surface of the casing in the forward direction is provided with a universal wheel, the transmission shaft of the motor is fixedly sleeved with the central hole of the sweeping brush and installed at the bottom of the casing, the universal wheel and the two driving wheels constitute a walking mechanism, so The universal wheel is used to change the direction. The sweeping brush and the motor form a sweeping mechanism. The sweeping mechanism is set in two groups, which are arranged on the left and right sides of the casing. There is an air suction port between the two driving wheels. It can be moved in the sliding slot, so that the sweeping robot can make the two sweeping brushes close to each other and cover the suction opening during normal cleaning work, so as to cooperate with the cleaning of the suction opening. Effectively realize the problem of dead angle cleaning.

Description

No dead angle robot of sweeping floor

Technical Field

The invention relates to the technical field of intelligent furniture, in particular to a sweeping robot without dead corners.

Background

The floor sweeping robot is also called an automatic sweeper, an intelligent dust collection robot, a dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. The cleaning of corner is the problem that the robot of sweeping the floor is difficult to solve, and when the in-process of robot operation met the corner, the robot edge was interior tangent with the corner, can have the dead angle that some robot can't cover between, causes unable clearance.

To the clean problem in dead angle, current robot adopts and installs the limit brush additional in its direction of advance bottom both sides, and the limit brush clockwise rotation on the left side, the anticlockwise rotation on the right side just so can concentrate the corner dust in suction opening department, inhales the rubbish receiver that gets into self again to accomplish the function of corner clearance. For the noise that produces when effectively reducing limit brush and ground friction, the setting of limit brush size should not be too big, lead to there being one section interval between two limit brushes, this has just caused the space between the both sides brush and has only relied on the inlet scoop to adsorb, normally sweep the floor when having the stronger rubbish of dependence in the region that sweeps over in this space under the condition, if the limit brush does not participate in wherein, it just is difficult to inhale the receiver with it by the bottom inlet scoop alone, cause the cleanness in ground not thorough, greatly reduced the practicality of the robot of sweeping the floor.

Disclosure of Invention

The invention provides a dead-corner-free sweeping robot, which has the advantages of no dead corner sweeping and solves the technical problems in the background art.

The invention provides the following technical scheme: the utility model provides a no dead angle robot of sweeping floor, includes casing, drive wheel, universal wheel, brush and motor, the bottom dust absorption mouth both sides of casing are equipped with the drive wheel, casing direction of advance bottom surface is equipped with the universal wheel, the fixed centre bore that cup joints the brush of transmission shaft of motor is installed in the bottom of casing, the universal wheel constitutes running gear with two drive wheels, the universal wheel is used for the switching direction, the brush constitutes with the motor and cleans the mechanism, cleans the mechanism and establishes two sets of and divide the left and right sides of locating the casing, is equipped with the inlet scoop between two drive wheels. The lower surface of casing and the position that is located two motors all set up the sliding tray of putting to one side, the motor can slide at the inner chamber of sliding tray, be equipped with magnetic part I and magnetic part II in the sliding tray, the one end of magnetic part II is not connected with the one end of magnetic part I, the other end fixed connection of magnetic part II is in one side of motor, the periphery side of casing is equipped with distance sensor, distance sensor is used for detecting the distance of sweeping floor robot and wall body, when reaching the rated distance, and the PLC controller through sweeping floor the robot lets in electricity to magnetic part I for magnetic part I produces magnetism and attracts or repels magnetic part II and remove in order to drive the motor.

Preferably, one side fixedly connected with air compressing device of motor, air compressing device has elasticity and is hollow airbag, air compressing device's right side fixed joint has the air cavity, the one end of fixed surface joint blast pipe on the air cavity, the other end fixedly connected with cylinder container of blast pipe, cylinder container is located the inner chamber of casing, the air cavity is linked together through the blast pipe with cylinder container's inner chamber, outside one side of air cavity is equipped with the intake pipe, be equipped with the check valve in intake pipe and the blast pipe respectively, check valve control air admits air to the air cavity by the outside in the intake pipe, check valve control air is discharged to cylinder container by the air cavity in the blast pipe, be equipped with liquid air freshener in the cylinder container, and cylinder container upper cover is opened and is equipped with a plurality of ventholes.

Preferably, be equipped with the blotter between magnetic part I and the II tip of magnetic part, one side fixed connection in the one end of magnetic part I of blotter, the opposite side of blotter is not connected with the one end of magnetic part II, the inside of blotter is equipped with soundproof cotton.

Preferably, the other end of the magnetic part II is in a U shape matched with the outer surface of the motor.

Preferably, the lower surface of the shell right below the air compressing device is provided with guide grooves for the movement of the two motors, and when the two sweeping brushes retract, the edges rotate relatively tangentially.

Preferably, the magnetic member ii is an electromagnet which generates magnetism when being electrified.

Preferably, the magnetic part II, the magnetic part I and the motor are connected in series into a bridge rectifier circuit, the magnetic part I is connected in series into a main circuit where a power supply end is located, and the magnetic part II and the motor are connected in series into a branch circuit where a rectifier diode end is located.

The invention has the following beneficial effects:

1. it is portable in locating the sliding tray through the brush for the robot of sweeping the floor can make two brushes link up closely and cover the inlet scoop when normally cleaning the during operation, with cooperation inlet scoop cleaning work, and the dead angle problem is effectively realized through stretching out the brush to the while in the face of corner dead angle problem.

2. Through setting up the cylinder container and the device of calming anger, drive the device of calming anger when moving by the motor and inhale the exhaust for the device of calming anger sprays the freshener to the corner when exhausting, when leaving the corner and breathing in, takes away the corner air, and when getting into next corner, via the cylinder container blowout, can effectively realize air purification, can make the robot of sweeping the floor can promote the circulation to the air in dead angle places such as corner, get rid of the peculiar smell and remain, purify room air comprehensively.

3. Through changing the electro-magnet with the permanent magnet, can avoid the magnetism phenomenon of disappearing of permanent magnet to influence equipment normal life, and in establishing ties with the motor and insert rectifier circuit, to the optimal design of circuit, effectively reduce equipment energy consumption.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the internal cross-sectional structure of the sliding groove of the present invention;

FIG. 3 is a front view of FIG. 2 of the present invention;

FIG. 4 is a perspective view of the present invention;

FIG. 5 is a schematic diagram of the electrical component circuit connection of the present invention.

In the figure: 1. a housing; 2. a drive wheel; 3. a universal wheel; 4. brushing; 5. a motor; 6. a cylindrical container; 7. an exhaust pipe; 8. an air cavity; 9. an air inlet pipe; 10. a gas compressing device; 11. a magnetic member II; 12. a cushion pad; 13. a magnetic part I; 14. a sliding groove; 15. a left sensor; 16. a front inductor; 17. and a right side inductor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, a sweeping robot without dead corners comprises a housing 1, driving wheels 2, universal wheels 3, a sweeping brush 4 and a motor 5, wherein the driving wheels 2 are arranged on two sides of a dust suction opening at the bottom of the housing 1, the universal wheels 3 are arranged on the surface of the bottom in the advancing direction of the housing 1, a transmission shaft of the motor 5 is fixedly sleeved with a central hole of the sweeping brush 4 and is installed at the bottom of the housing 1, the universal wheels 3 and the two driving wheels 2 form a traveling mechanism, the universal wheels 3 are used for changing the direction, the sweeping brush 4 and the motor 5 form a sweeping mechanism, the sweeping mechanism is divided into two groups and arranged on the left side and the right side of the housing 1, an air suction opening is arranged between the two driving wheels 2 and is used for absorbing garbage swept nearby, and the upper mechanism forms a basic traveling and sweeping function of the existing sweeping robot. Inclined sliding grooves 14 are formed in the lower surface of the shell 1 and located at the positions of the two motors 5, the motors 5 can slide in the inner cavities of the sliding grooves 14, the two sliding grooves 14 are symmetrically arranged by taking the connecting line from the circle center of the shell 1 to the center of the universal wheel 3 as a symmetry axis, the magnetic piece I13 is located in the sliding groove 14, one end of the magnetic piece I13 is fixedly installed at one end of the inner cavity of the sliding groove 14, the magnetic piece I13 is arranged close to the circle center of the shell 1, the other end of the magnetic piece I13 is fixedly adhered to one side of the cushion pad 12, the magnetic piece II 11 is arranged on the other side of the cushion pad 12, the magnetic piece II 11 is slidably connected to the inner cavity of the sliding groove 14, one end of the magnetic piece II 11 is in contact with and not fixedly connected with the other side of the cushion pad 12, the other end of the magnetic piece II 11 is fixedly connected with the side surface of the motor 5 through an adhesive, the magnetic piece II 11 can be a permanent magnet, and based on the advancing direction, at the periphery side front end of casing 1 and the left and right sides respectively fixed mounting have preceding inductor 16, left side inductor 15 and right side inductor 17, left side inductor 15, preceding inductor 16 and right side inductor 17 are used for detecting the distance of robot and wall body of sweeping the floor, when reaching the rated distance, let in forward electricity to magnetism spare I13 through the PLC controller, this moment, magnetism spare II 11 is the same with the magnetic pole of the facies of magnetism spare I13, and the same reason, when letting in reverse electricity to magnetism spare I13, the magnetic pole of the facies of magnetism spare II 11 and magnetism spare I13 is different.

Furthermore, magnetic part II 11 can be the electro-magnet, and its model is the same with magnetic part I13 completely, and magnetic part II 11 inserts the circuit with magnetic part I13 series connection, and when inserting forward electricity, the magnetic pole of magnetic part II 11 and magnetic part I13 opposite face is the same, and when inserting reverse electricity, the magnetic pole is different, from this, can solve under the long-term use, and magnetic part II 11 is because of being in the problem that the demagnetization easily disappears of transform in the magnetic field. Furthermore, the magnetic part II 11, the magnetic part I13, the motor 5 and the output end of the power supply are connected into a bridge rectifier circuit, and the power connection mode is as follows: referring to fig. 5, the motor 5 and the magnetic element ii 11 are connected in series to a branch of the bridge rectifier circuit, and the magnetic element i 13 is connected in series to a trunk of the bridge rectifier circuit and is electrically connected to one end of the power supply. It should be noted that the bridge rectifier circuit is formed by four rectifier diodes arranged in the manner shown in fig. 5, and two ends connected to the power supply are set as trunk lines, and two ends passing through the rectifier diodes are set as branch lines. From this, can optimize the circuit element that leads to because of the access of electro-magnet and supplement the problem, specifically be: in the traditional access circuit, because the electromagnet is only provided with the resistance of the coil, the resistance value of the electromagnet is small, the current passing through the coil is large and is approximate to short circuit, and a divider resistor needs to be connected in parallel to enable the current value in the circuit to be rated, so that the circuit design needs to be optimized, the setting of the divider resistor is reduced, and the energy consumption is reduced; meanwhile, the two electromagnets need to change the current direction in the circuit due to the use function, and the current direction needs to be unchanged in the full operation process of the motor 5. In conclusion of the two functional requirements, the bridge rectifier circuit is applied to the power supply circuit, and the power-on connection mode is adopted, so that the current direction of the magnetic part I13 is changed when the current direction of the power supply is changed, the current directions of the motor 5 and the magnetic part II 11 are always unchanged, meanwhile, all elements are connected into the circuit in series, the magnitude of the current can be uniformly determined by the rated current of the motor 5, the arrangement of a voltage dividing resistor is effectively saved, and the energy consumption of equipment is reduced. As for the way that the power supply supplies positive and negative electricity to the circuit, the power supply is realized by a positive and negative polarity conversion switch connected in series, and the PLC controls the turning of the switch.

Wherein, one side of the motor 5 is provided with an air compressing device 10, one end of the air compressing device 10 is bonded with one side of the motor 5, the air compressing device 10 has elasticity and is a hollow air bag, the maximum diameter of the air compressing device 10 is smaller than the depth and width of the sliding groove 14, the situation that the air compressing device 10 is blocked can not occur when expanding and contracting, the right side of the air compressing device 10 is fixedly clamped with an air cavity 8, the inner cavity of the air cavity 8 is also hollow, the upper surface of the air cavity 8 is fixedly clamped with one end of an exhaust pipe 7, the other end of the exhaust pipe 7 is fixedly connected with a cylindrical container 6, the cylindrical container 6 is positioned in the inner cavity of the shell 1, the top cover of the cylindrical container can be opened from the top of the shell 1, the air cavity 8 is communicated with the inner cavity of the cylindrical container 6 through the exhaust pipe 7, one side of the outside of the air cavity 8 is provided with an air inlet pipe 9, one-way valves are respectively arranged in the air inlet pipe 9, wherein the one-way valve controls air to enter the air cavity 8 from the outside, the air is controlled by the one-way valve in the exhaust pipe 7 to exhaust from the air cavity 8 to the interior of the cylindrical container 6, the liquid air freshener is filled in the cylindrical container 6, and the upper cover of the cylindrical container 6 is provided with a plurality of air outlet holes, so that the air in places with unsmooth air circulation, such as corners of walls and the bottom of a bed, can be purified.

Wherein, II 11 right sides of magnetic part set up to the U-shaped, reduce and take place relative movement's between the motor 5 possibility, the inside soundproof cotton that is equipped with of blotter 12 has effectively reduced the noise that the striking produced when magnet attracts mutually.

Wherein, the lower surface of casing 1 under air compressing device 10 is seted up and is used for the guide way of two motors 5 removal, and when two wipers 4 retract, the relative tangent rotation in edge makes and does not have the interval between the limit brush.

The using method of the invention has the following working principle:

when the sweeping robot without dead corners runs to a corner, the front sensor 16 of the robot and one of the right sensor 17 and the left sensor 15 sense the wall surface, when a rated distance is reached, the PLC turns the positive and negative polarity change switch, the current direction in the magnetic part I13 is changed, see fig. 5, the circuit is in a positive direction, the attraction force between the magnetic part I13 and the magnetic part II 11 is immediately changed into a repulsive force, the magnetic part II 11 slides outwards under the action of the repulsive force, meanwhile, the motor 5 and the sweeping brush 4 are driven to slide outwards, the motor 5 compresses the air compressing device 10, at the moment, the sweeping brush 4 extends to the corner, and dust at the corner is collected at the bottom suction opening through rotary concentration. After the air compressing device 10 compresses, the air pressure inside the air cavity 8 is increased, the check valve in the exhaust pipe 7 controls air to be exhausted from the air cavity 8 to the cylindrical container 6, air freshener in the cylindrical container 6 can be fully contacted with air and then is exhausted from an air outlet hole formed in the upper cover of the cylindrical container 6, so that the effect of purifying the air at a corner is achieved, when the robot leaves the corner, the left side inductor 15, the front inductor 16 and the right side inductor 17 detect the distance between the sweeping robot and a wall body, when the rated distance is reached, the PLC turns the positive and negative polarity change-over switch, the current direction in the magnetic part I13 is changed, at the moment, the circuit is reverse electricity, the repulsive force between the magnetic part II 11 and the magnetic part I13 is immediately changed into attractive force, the magnetic part II 11 retracts under the action of the attractive force until being contacted with the cushion 12, the air compressing device 10 is stretched at the same time, the check valve in the air inlet pipe 9 controls air to be exhausted from the outside to the air cavity 8, therefore, the cleaning effect of cleaning the corner and not affecting the bottom of the sweeping robot can be achieved, and the air in the places with unsmooth air circulation at the corner and the bottom of the bed can be purified.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a no dead angle robot of sweeping floor, includes casing (1), drive wheel (2), universal wheel (3), brush (4) and motor (5), the bottom dust absorption mouth both sides of casing (1) are equipped with drive wheel (2), casing (1) direction of advance bottom surface is equipped with universal wheel (3), the fixed centre bore that cup joints brush (4) of transmission shaft of motor (5) and installs the bottom in casing (1), universal wheel (3) and two drive wheel (2) constitute running gear, universal wheel (3) are used for the switching direction, brush (4) and motor (5) constitute and clean the mechanism, clean the mechanism and establish two sets ofly and divide the left and right sides of locating casing (1), are equipped with inlet scoop, its characterized in that between two drive wheel (2): the lower surface of casing (1) and the position that is located two motors (5) all offer sliding tray (14) of putting to one side, motor (5) can slide at the inner chamber of sliding tray (14), be equipped with magnetic part I (13) and magnetic part II (11) in sliding tray (14), the one end of magnetic part II (11) is not connected with the one end of magnetic part I (13), the other end fixed connection of magnetic part II (11) is in one side of motor (5), the periphery side of casing (1) is equipped with distance sensor, distance sensor is used for detecting the distance of robot and the wall body of sweeping the floor, when reaching rated distance, and the PLC controller through the robot of sweeping the floor is to magnetic part I (13) expert electricity for magnetic part I (13) produce magnetism and attract or repel magnetic part II (11) and move in order to drive motor (5).

2. The dead-corner-free sweeping robot according to claim 1, wherein: one side of the motor (5) is fixedly connected with an air compressing device (10), the air compressing device (10) is elastic and is a hollow air bag, the right side of the air compressing device (10) is fixedly clamped with an air cavity (8), the upper surface of the air cavity (8) is fixedly clamped with one end of an exhaust pipe (7), the other end of the exhaust pipe (7) is fixedly connected with a cylindrical container (6), the cylindrical container (6) is positioned in the inner cavity of the shell (1), the air cavity (8) is communicated with the inner cavity of the cylindrical container (6) through the exhaust pipe (7), one side of the outer part of the air cavity (8) is provided with an air inlet pipe (9), the air inlet pipe (9) and the exhaust pipe (7) are respectively provided with a one-way valve, the one-way valve in the air inlet pipe (9) controls air to enter the air cavity (8) from the outside, the one-way valve in the exhaust pipe (7) controls air to exhaust from the air cavity (8) to the cylindrical container (6), the cylindrical container (6) is filled with liquid air freshener, and the upper cover of the cylindrical container (6) is provided with a plurality of air outlet holes.

3. The dead-corner-free sweeping robot according to claim 1, wherein: be equipped with blotter (12) between magnetic part I (13) and magnetic part II (11) tip, one side fixed connection in the one end of magnetic part I (13) of blotter (12), the opposite side of blotter (12) is not connected with the one end of magnetic part II (11), the inside of blotter (12) is equipped with soundproof cotton.

4. The dead-corner-free sweeping robot according to claim 1, wherein: the other end of the magnetic part II (11) is arranged to be U-shaped and matched with the outer surface of the motor (5).

5. The dead-corner-free sweeping robot according to claim 2, wherein: the lower surface of the shell (1) under the air compressing device (10) is provided with guide grooves for the movement of the two motors (5), and when the sweeping brushes (4) retract, the edges rotate in a relative tangent mode.

6. The dead-corner-free sweeping robot according to claim 1, characterized in that: the magnetic part II (11) is an electromagnet which generates magnetism when electrified.

7. The dead-corner-free sweeping robot according to claim 6, wherein: the magnetic part II (11), the magnetic part I (13) and the motor (5) are connected into the bridge rectifier circuit in series, the magnetic part I (13) is connected into a main circuit where a power supply end is located in series, and the magnetic part II (11) and the motor (5) are connected into a branch circuit where a rectifier diode end is located in series.